Jeong, Jinyeong und Mishra, Hrishik und Ott, Christian und Kim, MinJun (2022) A Memory-based SO(3) Parameterization: Theory and Application to 6D Impedance Control with Radially Unbounded Potential Function. In: 39th IEEE International Conference on Robotics and Automation, ICRA 2022. IEEE. 2022 International Conference on Robotics and Automation (ICRA), 2022-05-23 - 2022-05-27, Philadelphia, PA, USA. doi: 10.1109/ICRA46639.2022.9812268. ISBN 978-172819681-7. ISSN 1050-4729.
Dieses Archiv kann nicht den Volltext zur Verfügung stellen.
Offizielle URL: https://ieeexplore.ieee.org/abstract/document/9812268
Kurzfassung
This paper proposes a parameterization method to represent SO (3) over multiple turns. This method is called a memory-based parameterization, because the idea is to integrate the past trajectory of exponential coordinates. The parameterization is consistent in the sense that the true rotation matrix can be reconstructed by using the exponential map. As an application of the proposed method, a 6D impedance controller is designed with a radially unbounded potential function. Consequently, in contrast to the conventional methods, an arbitrarily large angular deflection can be accommodated, resulting in a more realistic impedance behavior. The proposed schemes are validated through simulations and experiments.
elib-URL des Eintrags: | https://elib.dlr.de/191836/ | ||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||||||
Titel: | A Memory-based SO(3) Parameterization: Theory and Application to 6D Impedance Control with Radially Unbounded Potential Function | ||||||||||||||||||||
Autoren: |
| ||||||||||||||||||||
Datum: | 2022 | ||||||||||||||||||||
Erschienen in: | 39th IEEE International Conference on Robotics and Automation, ICRA 2022 | ||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||
Open Access: | Nein | ||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||||||
DOI: | 10.1109/ICRA46639.2022.9812268 | ||||||||||||||||||||
Verlag: | IEEE | ||||||||||||||||||||
ISSN: | 1050-4729 | ||||||||||||||||||||
ISBN: | 978-172819681-7 | ||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||
Stichwörter: | Automation, Aerospace electronics, Trajectory, Behavioral sciences, Impedance | ||||||||||||||||||||
Veranstaltungstitel: | 2022 International Conference on Robotics and Automation (ICRA) | ||||||||||||||||||||
Veranstaltungsort: | Philadelphia, PA, USA | ||||||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||
Veranstaltungsbeginn: | 23 Mai 2022 | ||||||||||||||||||||
Veranstaltungsende: | 27 Mai 2022 | ||||||||||||||||||||
Veranstalter : | IEEE | ||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||
HGF - Programmthema: | Robotik | ||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||
DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Interagierende Robotersteuerung [RO], R - Roboterdynamik & Simulation [RO], R - On-Orbit Servicing [RO] | ||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||||||||||
Hinterlegt von: | Strobl, Dr. Klaus H. | ||||||||||||||||||||
Hinterlegt am: | 08 Dez 2022 07:25 | ||||||||||||||||||||
Letzte Änderung: | 24 Apr 2024 20:53 |
Nur für Mitarbeiter des Archivs: Kontrollseite des Eintrags